Design and Analysis of a Novel Haptic Device

Author

Zhang, Yong ; Kong, Minxiu ; Sun, Lining ; Du, Zhijiang

Author_Institution

Robotics Inst., Harbin Inst. of Technol.

fYear

2006

fDate

25-28 June 2006

Firstpage

1175

Lastpage

1180

Abstract

A novel 6-DOF parallel haptic device is presented, which is characterized by large workspace, high rigidity, compactness, simple kinematics and easy construction. Its mechanism is composed of three sub-chains, each of which is attached to the base plate through a pin joint and the top plate through a spherical joint. The sub-chain is kinematically equivalent to the pantograph linkage and designed to solve the difficult problem of motor-fitting. The spherical joint belongs to the ball-in-socket type but has much larger workspace than regular ones. The forward and inverse kinematic analyses of the mechanism are performed, and Jacobian matrix is derived. The workspace is analyzed with a new scanning search method of the spherical coordinate searching algorithm, by which the intersections of multi-connected domains are readily obtained

Keywords

Jacobian matrices; haptic interfaces; interactive devices; kinematics; search problems; 6-DOF parallel haptic device; Jacobian matrix; ball-in-socket type; forward kinematic; inverse kinematic; motor-fitting; pantograph linkage; spherical coordinate searching algorithm; Bandwidth; Couplings; Design automation; Force control; Force feedback; Haptic interfaces; Humans; Kinematics; Mechatronics; Robotics and automation; Haptic devices; kinematics; parallel mechanisms; spherical joints; workspace;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257792

Filename

4026252